Merge branch 'dev' into add_gymnasium

MyoHub · Dec 17, 2023 · b089163 · b089163
2 parents 374aa4f + e785e0b
commit b089163
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Showing 10 changed files with 5,118 additions and 13 deletions.
diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
@@ -23,7 +23,7 @@ jobs:
   build:
     env:
       DISPLAY: :0
-  
+
     defaults:
       run:
         shell: bash -l {0}
@@ -32,31 +32,45 @@ jobs:
     strategy:
       matrix:
         os:
-          - ubuntu-latest
           - macos-latest
+          - ubuntu-latest
           - windows-latest
 
     steps:
+    - name: Set environment variable for macOS
+      if: ${{ runner.os == 'macOS' }}
+      run: echo "SYSTEM_VERSION_COMPAT=0" >> $GITHUB_ENV
+
     - name: Checkout repository and submodules
       uses: actions/checkout@v3
       with:
         submodules: recursive
+
     - name: Set up Python 3.10
       uses: actions/setup-python@v3
       with:
         python-version: "3.10"
+
     - name: Prepare Linux
       if: ${{ runner.os == 'Linux' }}
       run: |
         sudo apt-get update -y -qq
         sudo apt-get install -y xvfb x11-xserver-utils
-        sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &               
-        
-    - name: Enable Conda
+        sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &
+
+    - name: Enable Conda (macOS)
+      if: ${{ runner.os == 'macOS' }}
+      uses: conda-incubator/setup-miniconda@v2
+      with:
+        auto-activate-base: false
+        python-version: 3.8
+
+    - name: Enable Conda (window/ubuntu)
+      if: ${{ runner.os != 'macOS' }}
       uses: conda-incubator/setup-miniconda@v2
       with:
-        activate-environment: anaconda-client-env
         auto-activate-base: false
+
     - name: Test Conda
       run: |
           conda info
@@ -72,21 +86,22 @@ jobs:
 #         export CPATH="/opt/homebrew/include/"
 #         export HDF5_DIR=/opt/homebrew/
 #         pip3 install h5py --only-binary h5py
+
     - name: Install dependencies
       run: |
         conda activate $CONDA_DEFAULT_ENV
         python3 -m pip install --upgrade pip
         pip3 install -e .
-        
+
     - name: Run MuJoCo Rendering test
       if: ${{ runner.os == 'Linux' }}
       run: python3 -m mujoco.render_test
-      
+
     - name: Run Test environment
       run: |
         conda activate $CONDA_DEFAULT_ENV
         python3 -m myosuite.tests.test_myo
-        
+
     - name: Install ffmpeg
       if: ${{ runner.os == 'Linux' }}
       run: |
@@ -95,14 +110,13 @@ jobs:
     - name: Test rendering
       if: ${{ runner.os == 'Linux' }}
       run: python3 -m myosuite.utils.examine_env -e myoElbowPose1D6MRandom-v0 -r offscreen -n 1
+
     - name: Run Test jupyter-notebooks tutorials
       if: ${{ runner.os == 'Linux' }}
       run: |
-        conda activate $CONDA_DEFAULT_ENV
         source myosuite/tests/test_tutorials.sh
+
     - name: Run Test gym/gymnasium + stable-baselines3
         if: ${{ runner.os == 'Linux' }}
         run: |
-          conda activate $CONDA_DEFAULT_ENV
           source myosuite/tests/test_versions.sh
-